// Loads the simulation scene asynchronously.
public void loadSceneAsync(robotType robot)
{
try
{
simRobot = getRobot(robot);
}
catch (RobotNotFoundInListException e)
{
Debug.Log(e.Message);
}
Destroy(Player.instance.gameObject);
SceneManager.LoadSceneAsync(1);
}
private GameObject getRobot(robotType robot)
{
for (int i = 0; i < robots.Length; i++)
{
if (robots[i] != null)
{
if (robots[i].GetComponent <RobotInformation>().robotType == robot)
{
return(robots[i]);
}
}
}
throw new RobotNotFoundInListException("Robot could not be found in robot list");
}
// Modified. Incorrect representation. Maybe due to other way of improting urdf or different coordinates. Undo : newState = state. Remove type
public void Write(float state, robotType type)
{
switch (type)
{
case robotType.drz_telemax:
newState = -state;
break;
case robotType.asterix_ugv:
newState = state;
break;
}
isNewStateReceived = true;
}
//Specified robot gets outlined. Outliner for the other robots in list gets deactivated.
// If no robot is specified the outliner for all robots gets deactivated.
private void OutlineRobot(robotType robotToOutline, GameObject[] robots)
{
foreach (GameObject robot in robots)
{
if (robotToOutline != robotType.noRobot)
{
if (robot.GetComponent <RobotInformation>().robotType == robotToOutline)
{
robot.GetComponent <Outline>().enabled = true;
continue;
}
}
robot.GetComponent <Outline>().enabled = false;
}
}
// Modified. Used for initializing lists.
public void JointStateSubscriberInit()
{
var loader = GameObject.Find("ObjectLoader").GetComponent <Loader>();
this.Topic = loader.topic;
JointNames = loader.jointNames;
JointStateWriters = loader.jointStateWriters;
if (!infoLoaded)
{
try
{
type = this.GetComponent <RobotInformation>().robotType;
infoLoaded = true;
}
catch (NullReferenceException)
{
Debug.Log("Robot not loaded yet.");
}
}
}
// Sets variables for positioning the player. Sets joints of a robot for the JointStateSubscriberMod.
private void SetupSimulation(GameObject simRobot, robotType robot)
{
topic = "";
jointNames = new List <string>();
jointStateWriters = new List <JointStateWriterMod>();
switch (robot)
{
case robotType.drz_telemax:
offsetFromRobot = -3f * simRobot.transform.forward;
angle = simRobot.transform.rotation.eulerAngles.y - Player.instance.hmdTransform.rotation.eulerAngles.y;
// Configure joints
topic = "/telemax_control/joint_states";
try
{
jointNames.Add("arm_joint_0");
jointNames.Add("arm_joint_1");
jointNames.Add("arm_joint_2");
jointNames.Add("arm_joint_3");
jointNames.Add("arm_joint_4");
jointNames.Add("arm_joint_5");
jointNames.Add("flipper_back_left_joint");
jointNames.Add("flipper_back_right_joint");
jointNames.Add("flipper_front_left_joint");
jointNames.Add("flipper_front_right_joint");
jointNames.Add("gripper_joint");
List <JointStateWriterMod> temp = new List <JointStateWriterMod>(simRobot.GetComponentsInChildren <JointStateWriterMod>());
assignMatchingJoint(temp, jointStateWriters, "arm_link_0");
assignMatchingJoint(temp, jointStateWriters, "arm_link_1");
assignMatchingJoint(temp, jointStateWriters, "arm_link_2");
assignMatchingJoint(temp, jointStateWriters, "arm_link_3");
assignMatchingJoint(temp, jointStateWriters, "arm_link_4");
assignMatchingJoint(temp, jointStateWriters, "arm_link_5");
assignMatchingJoint(temp, jointStateWriters, "flipper_back_left_link");
assignMatchingJoint(temp, jointStateWriters, "flipper_back_right_link");
assignMatchingJoint(temp, jointStateWriters, "flipper_front_left_link");
assignMatchingJoint(temp, jointStateWriters, "flipper_front_right_link");
assignMatchingJoint(temp, jointStateWriters, "gripper_servo_link");
}
catch (System.Exception e)
{
Debug.Log(e.Message);
}
break;
// To make this work attach "hinge joints" and "JointSTateWriterMod" to arm links and flipper.
// Position and angle of joints doesn't fit to the one of real robot yet.
case robotType.asterix_ugv:
offsetFromRobot = 2f * simRobot.transform.forward;
angle = 180f + simRobot.transform.rotation.eulerAngles.y - Player.instance.hmdTransform.rotation.eulerAngles.y;
//Configure joints
/*topic = "/arm_manipulator_control/joint_states";
*
* try
* {
* jointNames.Add("arm_link_0");
* jointNames.Add("arm_link_1");
* jointNames.Add("arm_link_2");
* jointNames.Add("arm_link_3");
* jointNames.Add("arm_link_4");
* jointNames.Add("arm_link_5");
* jointNames.Add("flipper_back_left_joint");
* jointNames.Add("flipper_back_right_joint");
* jointNames.Add("flipper_front_left_joint");
* jointNames.Add("flipper_front_right_joint");
* jointNames.Add("gripper_joint");
*
* List<JointStateWriterMod> temp = new List<JointStateWriterMod>(simRobot.GetComponentsInChildren<JointStateWriterMod>());
*
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_0");
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_1");
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_3");
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_3");
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_4");
* assignMatchingJoint(temp, jointStateWriters, "arm_joint_5");
* assignMatchingJoint(temp, jointStateWriters, "flipper_back_left_link");
* assignMatchingJoint(temp, jointStateWriters, "flipper_back_right_link");
* assignMatchingJoint(temp, jointStateWriters, "flipper_front_left_link");
* assignMatchingJoint(temp, jointStateWriters, "flipper_front_right_link");
* assignMatchingJoint(temp, jointStateWriters, "gripper_servo_link");
* }
*
* catch (System.Exception e)
* {
* Debug.Log(e.Message);
* }*/
break;
}
}
